301 lines
8.2 KiB
C++
301 lines
8.2 KiB
C++
#include <vector>
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#include "SG_baseDataType.h"
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#include "SG_baseAlgo_Export.h"
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#include "rodAndBarDetection_Export.h"
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#include <opencv2/opencv.hpp>
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#include <limits>
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//version 1.0.0 : base version release to customer
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std::string m_strVersion = "1.0.0";
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const char* wd_rodAndBarDetectionVersion(void)
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{
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return m_strVersion.c_str();
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}
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SVzNL3DPoint getArcPeak(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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SWD_segFeature & a_arcFeature)
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{
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SVzNL3DPoint arcPeak = scanLines[a_arcFeature.lineIdx][a_arcFeature.startPtIdx].pt3D;
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for (int i = a_arcFeature.startPtIdx+1; i <= a_arcFeature.endPtIdx; i++)
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{
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if (scanLines[a_arcFeature.lineIdx][i].pt3D.z > 1e-4) //跳开空点
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{
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if (arcPeak.z > scanLines[a_arcFeature.lineIdx][i].pt3D.z)
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arcPeak = scanLines[a_arcFeature.lineIdx][i].pt3D;
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}
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}
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return arcPeak;
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}
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//投影，提取ROI内的数据
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void xoyROIProjection(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const double* rtMatrix,
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SSG_ROIRectD& roi_xoy,
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std::vector<SVzNL3DPoint>& projectPoints
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)
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{
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int lineNum = (int)scanLines.size();
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for (int line = 0; line < lineNum; line++)
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{
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std::vector<SVzNL3DPosition>& a_line = scanLines[line];
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int ptNum = (int)a_line.size();
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for (int i = 0; i < (int)a_line.size(); i++)
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{
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SVzNL3DPoint a_pt = a_line[i].pt3D;
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if (a_pt.z < 1e-4)
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continue;
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double x = a_pt.x * rtMatrix[0] + a_pt.y * rtMatrix[1] + a_pt.z * rtMatrix[2];
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double y = a_pt.x * rtMatrix[3] + a_pt.y * rtMatrix[4] + a_pt.z * rtMatrix[5];
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double z = a_pt.x * rtMatrix[6] + a_pt.y * rtMatrix[7] + a_pt.z * rtMatrix[8];
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if ((x >= roi_xoy.left) && (x <= roi_xoy.right) &&
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(y >= roi_xoy.top) && (y <= roi_xoy.bottom))
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{
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a_pt.x = x;
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a_pt.y = y;
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a_pt.z = z;
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projectPoints.push_back(a_pt);
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}
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}
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}
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}
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SVzNLRangeD getZRange(std::vector<SVzNL3DPoint>& projectPoints)
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{
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int ptNum = (int)projectPoints.size();
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SVzNLRangeD zRange;
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zRange.min = DBL_MAX;
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zRange.max = DBL_MIN;
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for (int i = 0; i < ptNum; i++)
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{
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zRange.min = zRange.min > projectPoints[i].z ? projectPoints[i].z : zRange.min;
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zRange.max = zRange.max < projectPoints[i].z ? projectPoints[i].z : zRange.max;
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}
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return zRange;
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}
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void zCutPointClouds(
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std::vector<SVzNL3DPoint>& projectPoints,
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SVzNLRangeD& zRange,
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std::vector<SVzNL3DPoint>& cutLayerPoints)
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{
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int ptNum = (int)projectPoints.size();
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for (int i = 0; i < ptNum; i++)
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{
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if ((projectPoints[i].z >= zRange.min) && (projectPoints[i].z <= zRange.max))
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cutLayerPoints.push_back(projectPoints[i]);
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}
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}
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SVzNL3DPoint getXoYCentroid(std::vector<SVzNL3DPoint>& points)
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{
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int ptNum = (int)points.size();
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SVzNL3DPoint centroid = { 0.0, 0.0, 0.0 };
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if (ptNum == 0)
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return centroid;
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for (int i = 0; i < ptNum; i++)
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{
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centroid.x += points[i].x;
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centroid.y += points[i].y;
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}
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centroid.x = centroid.x / ptNum;
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centroid.y = centroid.y / ptNum;
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return centroid;
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}
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SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, double matrix3d[9])
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{
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SVzNL3DPoint _r_pt;
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_r_pt.x = pt3D.x * matrix3d[0] + pt3D.y * matrix3d[1] + pt3D.z * matrix3d[2];
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_r_pt.y = pt3D.x * matrix3d[3] + pt3D.y * matrix3d[4] + pt3D.z * matrix3d[5];
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_r_pt.z = pt3D.x * matrix3d[6] + pt3D.y * matrix3d[7] + pt3D.z * matrix3d[8];
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return _r_pt;
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}
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void sx_hexHeadScrewMeasure(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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bool isHorizonScan, //true:激光线平行槽道；false:激光线垂直槽道
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const SSG_cornerParam cornerPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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double rodRidius,
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std::vector<SSX_hexHeadScrewInfo>& screwInfo,
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int* errCode)
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{
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*errCode = 0;
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SSX_hexHeadScrewInfo screwInfo;
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memset(&screwInfo, 0, sizeof(SSX_hexHeadScrewInfo));
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int lineNum = (int)scanLines.size();
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if (lineNum == 0)
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{
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*errCode = SG_ERR_3D_DATA_NULL;
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return;
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}
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int linePtNum = (int)scanLines[0].size();
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//判断数据格式是否为grid。算法只能处理grid数据格式
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bool isGridData = true;
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for (int line = 0; line < lineNum; line++)
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{
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if (linePtNum != (int)scanLines[line].size())
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{
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isGridData = false;
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break;
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}
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}
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if (false == isGridData)//数据不是网格格式
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{
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*errCode = SG_ERR_NOT_GRID_FORMAT;
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return;
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}
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std::vector< std::vector<SVzNL3DPosition>> data_lines;
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if (false == isHorizonScan)
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{
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data_lines.resize(lineNum);
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for (int line = 0; line < lineNum; line++)
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{
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data_lines[line].insert(data_lines[line].end(), scanLines[line].begin(), scanLines[line].end());
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for (int j = 0, j_max = (int)data_lines[line].size(); j < j_max; j++)
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{
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data_lines[line][j].nPointIdx = j;
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scanLines[line][j].nPointIdx = 0; //转义复用
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}
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}
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}
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else
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{
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data_lines.resize(linePtNum);
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for (int i = 0; i < linePtNum; i++)
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data_lines[i].resize(lineNum);
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for (int line = 0; line < lineNum; line++)
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{
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for (int j = 0; j < linePtNum; j++)
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{
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scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
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data_lines[j][line] = scanLines[line][j];
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data_lines[j][line].pt3D.x = scanLines[line][j].pt3D.y;
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data_lines[j][line].pt3D.y = scanLines[line][j].pt3D.x;
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}
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}
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lineNum = linePtNum;
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linePtNum = (int)data_lines[0].size();
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for (int line = 0; line < lineNum; line++)
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{
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for (int j = 0, j_max = (int)data_lines[line].size(); j < j_max; j++)
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data_lines[line][j].nPointIdx = j;
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}
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}
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std::vector<std::vector<SWD_segFeature>> arcFeatures;
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for (int line = 0; line < lineNum; line++)
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{
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if (line == 44)
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int kkk = 1;
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std::vector<SVzNL3DPosition>& lineData = data_lines[line];
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//滤波，滤除异常点
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sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], linePtNum, filterParam);
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std::vector<SWD_segFeature> line_ringArcs;
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int dataSize = (int)lineData.size();
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//提取Arc特征
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wd_getRingArcFeature(
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lineData,
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line, //当前扫描线序号
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cornerPara,
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rodRidius / 2, //环宽度
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line_ringArcs //环
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);
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arcFeatures.push_back(line_ringArcs);
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}
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//特征生长
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std::vector<SWD_segFeatureTree> growTrees;
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wd_getSegFeatureGrowingTrees(
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arcFeatures,
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growTrees,
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growParam);
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if (growTrees.size() == 0)
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{
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*errCode = SG_ERR_NOT_GRID_FORMAT;
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return;
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}
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int objNum = (int)growTrees.size();
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for (int i = 0; i < objNum; i++)
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{
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//空间直线拟合
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std::vector<SVzNL3DPoint> fitPoints;
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int nodeSize = (int)growTrees[i].treeNodes.size();
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for (int j = 0; j < nodeSize; j++)
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{
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SVzNL3DPoint a_pt = getArcPeak(data_lines, growTrees[i].treeNodes[j]);
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fitPoints.push_back(a_pt);
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}
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if (fitPoints.size() < 12)
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continue;
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//去除头尾各5个点，防止在端部和根部扫描时的数据有干扰
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fitPoints.erase(fitPoints.begin(), fitPoints.begin() + 5);
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fitPoints.erase(fitPoints.end() - 5, fitPoints.end());
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//拟合
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SVzNL3DPoint P0_center, P1_dir;
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bool result = fitLine3DLeastSquares(fitPoints, P0_center, P1_dir);
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if (false == result)
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continue;
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//投影
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//计算旋转向量
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SVzNL3DPoint vector1 = P1_dir;
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SVzNL3DPoint vector2 = { 0, 0, -1.0 };
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SSG_planeCalibPara rotatePara = wd_conputeRTMatrix( vector1, vector2);
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//
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SSG_ROIRectD roi_xoy;
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roi_xoy.left = P0_center.x - rodRidius * 4; //2D范围
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roi_xoy.right = P0_center.x + rodRidius * 4; //2D范围
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roi_xoy.top = P0_center.y - rodRidius * 4; //2D范围
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roi_xoy.bottom = P0_center.y + rodRidius * 4; //2D范围
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std::vector< SVzNL3DPoint> roiProjectionData;
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xoyROIProjection(scanLines, rotatePara.planeCalib, roi_xoy, roiProjectionData);
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//取端面
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SVzNLRangeD zRange = getZRange(roiProjectionData);
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SVzNLRangeD cutZRange;
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cutZRange.min = zRange.min;
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cutZRange.max = zRange.min + 10.0; //取10mm的端面
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std::vector<SVzNL3DPoint> surfacePoints;
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zCutPointClouds(roiProjectionData, cutZRange, surfacePoints);
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//计算中心点
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SVzNL3DPoint projectionCenter = getXoYCentroid(surfacePoints);
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projectionCenter.z = zRange.min;
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//旋转回原坐标系
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SVzNL3DPoint surfaceCenter = _ptRotate(projectionCenter, rotatePara.invRMatrix);
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//生成Rod信息
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SSX_hexHeadScrewInfo a_rod;
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a_rod.center = surfaceCenter;
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a_rod.axialDir = P1_dir;
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a_rod.rotateAngle = 0;
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screwInfo.push_back(a_rod);
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}
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if (true == isHorizonScan)
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{
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int objNum = (int)screwInfo.size();
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for (int i = 0; i < objNum; i++)
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{
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double tmp = screwInfo[i].center.x;
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screwInfo[i].center.x = screwInfo[i].center.y;
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screwInfo[i].center.y = tmp;
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tmp = screwInfo[i].axialDir.x;
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screwInfo[i].axialDir.x = screwInfo[i].axialDir.y;
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screwInfo[i].axialDir.y = tmp;
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//screwInfo[i].rotateAngle += 90;
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}
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}
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return;
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}
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